Book Image

Robot Operating System Cookbook

By : Kumar Bipin
Book Image

Robot Operating System Cookbook

By: Kumar Bipin

Overview of this book

This book will leverage the power of ROS with an introduction to its core and advanced concepts through exciting recipes. You will get acquainted with the use of different synchronous and asynchronous communication methods, including messages, services, and actions. You will learn how to use the various debugging and visualization tools used in development and how to interface sensors and actuators with the ROS framework. Firstly, you will get to grips with ROS simulation frameworks, such as Gazebo and RotorS for modeling and simulating any physical robot and virtual environment. You will also cover mobile robotics, micro-aerial vehicles, and robotic arms, which are the leading branches of robotic applications. Robot Operating System Cookbook will also guide you in the development of an autonomous navigation framework for both mobile robots and micro-aerial vehicles. Finally, you will explore ROS-Industrial, an open source project that extends the advanced capabilities of ROS software to manufacturing industries.
Table of Contents (12 chapters)

Working with the Kinect sensor to view objects in 3D

The innovative technology behind Kinect is a combination of hardware and software contained within the Kinect sensor accessory that can be added to any existing Xbox 360 or computer system. There are three hardware innovations working together within the Kinect sensor:

  • Color VGA video camera: This video camera aids in facial recognition and other detection features by detecting three color components—red, green, and blue, which is also known as the "RGB camera".
  • Depth sensor: An infrared projector and a monochrome CMOS sensor work together to "see" the indoor environment in 3D, regardless of the lighting conditions.
  • Multi-array microphone: This is an array of four microphones that can isolate the voices of the players from the noise in the indoor environment. This allows the player to be a few feet...